仿蝠鲼潜水器近底扑动水动力实验研究  

Hydrodynamic Experiments of the Bionic Ray Flapping Near the Ground

作　　者：罗扬 魏俊屹 侯哲星 徐同轼 黄桥高[1,2,3] 潘光 LUO Yang;WEI Junyi;HOU Zhexing;XU Tongshi;HUANG Qiaogao;PAN Guang(School of Marine Science and Technology,Northwestern Polytechnical University,Xi’an 710072,China;Key Laboratory of Unmanned Underwater Vehicle,Northwestern Polytechnical University,Xi’an 710072,China;Ningbo Institute of Northwestern Polytechnical University,Ningbo 315103,China)

机构地区：[1]西北工业大学航海学院,西安710072 [2]西北工业大学无人水下运载技术工信部重点实验室,西安710072 [3]西北工业大学宁波研究院,宁波315103

出　　处：《无人系统技术》2024年第6期73-83,共11页Unmanned Systems Technology

基　　金：国家自然科学基金(52201381);国家重点研发计划(2022YFC2805200);中国博士后科学基金(2023M742851,2024T171174);重庆市自然科学基金(CSTB2022NSCQ-MSX0376);魁元实验室基金(KY202429)。

摘　　要：由于蝠鲼在近底游动时具有较高的游动速度,因此对仿蝠鲼潜水器在不同近底距离下扑动的水动力实验进行研究。仿蝠鲼实验样机的外形根据真实蝠鲼生物进行设计,胸鳍扑动的摆旋机构依据真实蝠鲼在近底游动时的扑动运动设计得到。首先,通过循环水槽及测力天平获取仿蝠鲼潜水器在近底扑动时的水动力参数。其次,对仿蝠鲼潜水器在不同近底距离下,胸鳍对称及非对称扑动下的平均推力和俯仰力矩进行研究,并对仿蝠鲼潜水器在指定近底距离下,胸鳍不同扑动频率下的平均推力系数、俯仰力矩进行数据获取,同时得到了仿蝠鲼潜水器在一个扑动周期内的瞬时推力和升力系数。最后,结果表明,仿蝠鲼潜水器在近底扑动时,产生的推力和俯仰力矩会随着近底距离H的减小而增加,并且在H<0.5时,俯仰力矩会随着近底距离的减小迅速增加。通过对潜水器在一个扑动周期内的水动力系数进行研究可知,推力系数曲线存在两个极大值和极小值,且推力系数曲线的极大值及极小值分别对应着攻角的最值和零点。而升力系数曲线则仅有一个极大值和极小值。此外,样机推力系数及俯仰力矩随着胸鳍的扑动频率的增加而增大,而推力系数的增幅随着扑动频率的增加而不断减小。由此可知,地面效应对仿蝠鲼潜水器游动时的推力产生存在积极影响。Manta rays have high swimming speeds when swimming near the ground.We research the hydrodynamic experiments of bionic ray flapping at different near-ground heights.The shape of the bionic ray was designed based on real manta,and the pectoral fin flapping mechanism was based on the real manta rays fluttering near the substrate.The hydrodynamic results of the bionic ray were measured in a water channel by a force sensor.We have obtained the average thrust coefficient and pitching moment of symmetric and asymmetric flapping at different near-ground heights and the average thrust and pitching moment at different flapping frequencies at a certain near-ground height.The force sensor also obtains the instantaneous thrust and lift coefficient in a period.The results show that the thrust and pitching moments generated by the bionic ray flapping near the ground increase with the decrease of the near-ground height,and the pitching moments increase rapidly when the bionic ray flapping height H<0.5.Studying the hydrodynamic of the bionic ray flapping in a period,it can be seen that the thrust coefficient curves have two peaks and valleys,and the peaks and valleys of the thrust coefficient curves correspond to the maximum and the zero point of the attack angle,respectively.The instantaneous lift coefficient curve only has one peak and valley.In addition,with the increase of the flapping frequency the thrust coefficient and pitching moment of the bionic ray increase,while the increase in thrust coefficient decreases with the increasing flapping frequency.It can be seen that the ground effect has a positive influence on the bionic ray generation of the thrust.

关 键 词：近底扑动 地面效应 仿生潜水器 摆旋机构 蝠鲼 水动力实验 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]